Surgical instrument assembly comprising a flexible articulation system

ABSTRACT

A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. §120 to U.S. Pat. Application Serial No. 17/709,016, entitledSURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,filed Mar. 30, 2022, now U.S. Pat. Application Publication No.2022/0225981, which is a continuation application claiming priorityunder 35 U.S.C. §120 to U.S. Pat. Application Serial No. 17/073,503,entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATIONSYSTEM, filed Oct. 19, 2020, now U.S. Pat. Application Publication No.2021/0100550, which is a continuation application claiming priorityunder 35 U.S.C. §120 to U.S. Pat. Application Serial No. 15/996,863,entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATIONSYSTEM, filed Jun. 4, 2018, which issued on Oct. 20, 2020 as U.S. Pat.No. 10,806,448, which is a continuation application claiming priorityunder 35 U.S.C. §120 to U.S. Pat. Application Serial No. 14/574,493,entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATIONSYSTEM, filed Dec. 18, 2014, which issued on Jun. 5, 2018 as U.S. Pat.No. 9,987,000, the entire disclosures of which are hereby incorporatedby reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.Examples of such stapling instruments are disclosed in U.S. Pat. No.7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLEMEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FORDEPLOYING THE SAME, the entire disclosure of which is herebyincorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a plan view of an end effector of a surgical staplinginstrument comprising a staple cartridge, an anvil, and a closure tubeconfigured to move the anvil between an open position and a closedposition;

FIG. 2 is a partial perspective view of the end effector of FIG. 1illustrated with portions removed to illustrate a fixed axisarticulation joint;

FIG. 3 is a perspective view of an articulation joint in accordance withat least one embodiment;

FIG. 4 is a plan view of the articulation joint of FIG. 3 in anunarticulated configuration;

FIG. 5 is a plan view of the articulation joint of FIG. 3 in anarticulated configuration;

FIG. 6 is an elevational view of an articulation actuator comprised ofwire illustrated in an unloaded condition;

FIG. 7 is an elevational view of the articulation actuator of FIG. 6illustrated in a loaded condition in which it s experiencing acompressive load;

FIG. 8 is an elevational view of the articulation actuator of FIG. 6illustrated in a loaded condition in which it is experiencing a tensileload;

FIG. 9 is a plan view of an articulation joint in accordance with atleast one embodiment illustrated in an unarticulated configuration;

FIG. 10 is a plan view of the articulation joint of FIG. 9 illustratedin an articulated configuration;

FIG. 11 is a longitudinal cross-section of the articulation joint ofFIG. 9 taken along line 11-11 in FIG. 9 ;

FIG. 12 is a cross-section of the articulation joint of FIG. 9 takenalong line 12-12 in FIG. 9 ;

FIG. 13 is a cross-section of an articulation joint in accordance withat least one alternative embodiment;

FIG. 14 is a plan view of an articulation joint in accordance with atleast one embodiment illustrated in an unarticulated configuration;

FIG. 15 is a plan view of the articulation joint of FIG. 14 illustratedin an articulated configuration;

FIG. 16 is a perspective view of a flexible articulation backboneconfigured to support a firing member in accordance with at least oneembodiment;

FIG. 17 is an exploded view of the flexible backbone of FIG. 16 ; and

FIG. 18 is a perspective view of a flexible backbone configured tosupport a firing member in accordance with at least one embodiment.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014, which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 14/574,478, entitled SURGICAL    INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND    MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S.    Pat. No. 9,844,374;-   U.S. Pat. Application Serial No. 14/574,483, entitled SURGICAL    INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat. No.    10,188,385;-   U.S. Pat. Application Serial No. 14/575,139, entitled DRIVE    ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,844,375;-   U.S. Pat. Application Serial No. 14/575,148, entitled LOCKING    ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE    SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;-   U.S. Pat. Application Serial No. 14/575,130, entitled SURGICAL    INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A    DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S.    Pat. No. 10,245,027;-   U.S. Pat. Application Serial No. 14/575,143, entitled SURGICAL    INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat. No.    10,004,501;-   U.S. Pat. Application Serial No. 14/575,117, entitled SURGICAL    INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM    SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;-   U.S. Patent Application Serial No. 14/575,154, entitled SURGICAL    INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING    BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355; and-   U.S. Pat. Application Serial No. 14/574,500, entitled SURGICAL    INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now    U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 13/782,295, entitled ARTICULATABLE    SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL    COMMUNICATION, now U.S. Pat. No. 9,700,309;-   U.S. Pat. Application Serial No. 13/782,323, entitled ROTARY POWERED    ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.    9,782,169;-   U.S. Pat. Application Serial No. 13/782,338, entitled THUMBWHEEL    SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Pat.    Application Publication No. 2014/0249557;-   U.S. Pat. Application Serial No. 13/782,499, entitled    ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now    U.S. Pat. No. 9,358,003;-   U.S. Pat. Application Serial No. 13/782,460, entitled MULTIPLE    PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S.    Pat. No. 9,554,794;-   U.S. Pat. Application Serial No. 13/782,358, entitled JOYSTICK    SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.    9,326,767;-   U.S. Pat. Application Serial No. 13/782,481, entitled SENSOR    STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S.    Pat. No. 9,468,438;-   U.S. Pat. Application Serial No. 13/782,518, entitled CONTROL    METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS,    now U.S. Pat. Application Publication No. 2014/0246475;-   U.S. Pat. Application Serial No. 13/782,375, entitled ROTARY POWERED    SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat.    No. 9,398,911; and-   U.S. Pat. Application Serial No. 13/782,536, entitled SURGICAL    INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 13/803,097, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No.    9,687,230;-   U.S. Pat. Application Serial No. 13/803,193, entitled CONTROL    ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S.    Pat. No. 9,332,987;-   U.S. Pat. Application Serial No. 13/803,053, entitled    INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT,    now U.S. Pat. No. 9,883,860;-   U.S. Pat. Application Serial No. 13/803,086, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Pat.    Application Publication No. 2014/0263541;-   U.S. Pat. Application Serial No. 13/803,210, entitled SENSOR    ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL    INSTRUMENTS, now U.S. Pat. No. 9,808,244;-   U.S. Pat. Application Serial No. 13/803,148, entitled MULTI-FUNCTION    MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,470,762;-   U.S. Pat. Application Serial No. 13/803,066, entitled DRIVE SYSTEM    LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,629,623;-   U.S. Pat. Application Serial No. 13/803,117, entitled ARTICULATION    CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,351,726;-   U.S. Pat. Application Serial No. 13/803,130, entitled DRIVE TRAIN    CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,351,727; and-   U.S. Pat. Application Serial No. 13/803,159, entitled METHOD AND    SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.    9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   U.S. Pat. Application Serial No. 14/200,111, entitled CONTROL    SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 14/226,106, entitled POWER    MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat.    Application Publication No. 2015/0272582;-   U.S. Pat. Application Serial No. 14/226,099, entitled STERILIZATION    VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;-   U.S. Pat. Application Serial No. 14/226,094, entitled VERIFICATION    OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Pat.    Application Publication No. 2015/0272580;-   U.S. Pat. Application Serial No. 14/226,117, entitled POWER    MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP    CONTROL, now U.S. Pat. No. 10,013,049;-   U.S. Pat. Application Serial No. 14/226,075, entitled MODULAR    POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now    U.S. Pat. No. 9,743,929;-   U.S. Pat. Application Serial No. 14/226,093, entitled FEEDBACK    ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now    U.S. Pat. No. 10,028,761;-   U.S. Pat. Application Serial No. 14/226,116, entitled SURGICAL    INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Pat. Application    Publication No. 2015/0272571;-   U.S. Pat. Application Serial No. 14/226,071, entitled SURGICAL    INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat.    No. 9,690,362;-   U.S. Pat. Application Serial No. 14/226,097, entitled SURGICAL    INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.    9,820,738;-   U.S. Pat. Application Serial No. 14/226,126, entitled INTERFACE    SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.    10,004,497;-   U.S. Pat. Application Serial No. 14/226,133, entitled MODULAR    SURGICAL INSTRUMENT SYSTEM, now U.S. Pat. Application Publication    No. 2015/0272557;-   U.S. Pat. Application Serial No. 14/226,081, entitled SYSTEMS AND    METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No.    9,804,618;-   U.S. Pat. Application Serial No. 14/226,076, entitled POWER    MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE    PROTECTION, now U.S. Pat. No. 9,733,663;-   U.S. Pat. Application Serial No. 14/226,111, entitled SURGICAL    STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and-   U.S. Pat. Application Serial No. 14/226,125, entitled SURGICAL    INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.    10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 14/479,103, entitled CIRCUITRY AND    SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 10,111,679;-   U.S. Pat. Application Serial No. 14/479,119, entitled ADJUNCT WITH    INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No.    9,724,094;-   U.S. Pat. Application Serial No. 14/478,908, entitled MONITORING    DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No.    9,737,301 ;-   U.S. Pat. Application Serial No. 14/478,895, entitled MULTIPLE    SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR’S OUTPUT OR    INTERPRETATION, now U.S. Pat. No. 9,757,128;-   U.S. Pat. Application Serial No. 14/479,110, entitled USE OF    POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE, now    U.S. Pat. No. 10,016,199;-   U.S. Pat. Application Serial No. 14/479,098, entitled SMART    CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat. No.    10,135,242;-   U.S. Pat. Application Serial No. 14/479,115, entitled MULTIPLE MOTOR    CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and-   U.S. Pat. Application Serial No. 14/479,108, entitled LOCAL DISPLAY    OF TISSUE PARAMETER STABILIZATION, now U.S. Pat. Application    Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. Application Serial No. 14/248,590, entitled MOTOR DRIVEN    SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat.    No. 9,826,976;-   U.S. Pat. Application Serial No. 14/248,581, entitled SURGICAL    INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED    FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;-   U.S. Pat. Application Serial No. 14/248,595, entitled SURGICAL    INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF    THE SURGICAL INSTRUMENT, now U.S. Pat. No. 9,844,368;-   U.S. Pat. Application Serial No. 14/248,588, entitled POWERED LINEAR    SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;-   U.S. Pat. Application Serial No. 14/248,591, entitled TRANSMISSION    ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680;-   U.S. Pat. Application Serial No. 14/248,584, entitled MODULAR MOTOR    DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING    ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat.    No. 9,801,626;-   U.S. Pat. Application Serial No. 14/248,587, entitled POWERED    SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;-   U.S. Pat. Application Serial No. 14/248,586, entitled DRIVE SYSTEM    DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No.    10,136,887; and-   U.S. Pat. Application Serial No. 14/248,607, entitled MODULAR MOTOR    DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now    U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Provisional Pat. Application Serial No. 61/812,365, entitled    SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE    MOTOR;-   U.S. Provisional Pat. Application Serial No. 61/812,376, entitled    LINEAR CUTTER WITH POWER;-   U.S. Provisional Pat. Application Serial No. 61/812,382, entitled    LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;-   U.S. Provisional Pat. Application Serial No. 61/812,385, entitled    SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR    CONTROL; and-   U.S. Provisional Pat. Application Serial No. 61/812,372, entitled    SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE    MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient’s body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A surgical instrument 100 is illustrated in FIGS. 1 and 2 . The surgicalinstrument 100 comprises a shaft 120, an end effector 130, and anarticulation joint 140 rotatably connecting the end effector 130 to theshaft 120. The end effector 130 comprises a first jaw 132 including astaple cartridge. The staple cartridge includes a cartridge body and aplurality of staples removably stored therein. The staple cartridge canbe readily removable from the first jaw 132 such that the staplecartridge can be replaced once it has been at least partially expended.In alternative embodiments, the staple cartridge is not readilyremovable from the first jaw 132. In either event, the end effector 130further comprises a second jaw 134. The second jaw 134 includes an anvilconfigured to deform the staples when they are ejected from the staplecartridge. The second jaw 134 is movably coupled to the first jaw 132and is rotatable between an open position and a closed position (FIG. 1) to clamp tissue against the staple cartridge. In alternativeembodiments, the first jaw 132 is movably coupled to the second jaw 134and is rotatable between an open position and a closed position.

A proximal end of the end effector 130 comprises a channel retainer 146.The channel retainer 146 comprises a pivot aperture 147 defined therein.A frame of the shaft 120 comprises a pivot pin closely received withinthe pivot aperture 147. The pivot aperture 147 constrains the movementof the end effector 130 relative to the shaft 120 such that the endeffector 130 can pivot about an articulation axis 190. The articulationaxis 190 comprises a fixed pivot axis and the motion of the end effector130 comprises a circular path about the articulation axis 190. Thearticulation joint 140 permits one degree of freedom for the endeffector 130. The channel retainer 146 comprises a partiallycircumferential array of lock teeth 148 extending around the proximalperimeter thereof. The shaft 120 includes a lock 180 movable between anunlocked position in which the end effector 130 can be articulatedrelative to the shaft 120 and a locked position in which the lock 180 isengaged with a lock tooth 148. When the lock 180 is engaged with a locktooth 148, the lock 180 inhibits the end effector 130 from being rotatedabout the articulation joint 140.

The shaft 120 further includes a proximal closure tube 121 which ismovable relative to a frame of the shaft 120. The proximal closure tube121 is coupled to a distal closure tube 131 of the end effector 130.More specifically, the distal tube 131 is pivotably coupled to theclosure tube 121 by links 143. Each link 143 comprises a proximalprojection 144 positioned within an aperture defined in the proximalclosure tube 121. Each link 143 further comprises a distal projection145 positioned within an aperture defined in the distal closure tube131. The proximal projections 144 define a first pivot axis and thedistal projections 145 define a second pivot axis. The first and secondpivot axes defined by the links 143 allow the closure tube toaccommodate the concurrent articulation of the end effector 130 at thearticulation joint 140 and the translation of the closure tube relativeto the articulation joint. The links 143 provide two degrees of freedombetween the closure tube 121 and the closure tube 131. In variousinstances, the two degrees of freedom permit compound movements of theclosure tube.

Further to the above, the closure tube 131 is operably engaged with thesecond jaw 134. The closure tube 131 comprises a window 133 and thesecond jaw 134 comprises a drive tab 135 extending into the window 133.When the closure tube 131 is pulled proximally, a distal sidewall of thewindow 133 contacts the tab 135 and rotates the second jaw 134 away fromthe first jaw 132 into an open position. When the closure tube 131 ispushed distally, a proximal sidewall of the window 133 contacts the tab135 and rotates the second jaw 134 toward the first jaw 132.

The surgical instrument 100 further comprises a firing member 150. Thefiring member 150 extends through the shaft 120 and the articulationjoint 140 and into the end effector 130. The firing member 150 ismovable distally through the end effector 130 to eject the staples fromthe staple cartridge, fasten the tissue positioned intermediate thefirst jaw 132 and the second jaw 134, and/or incise the tissuepositioned intermediate the first jaw 132 and the second jaw 134. Thefiring member 150 comprises a plurality of lateral portions whichgenerally move together; however, the lateral portions of the firingmember 150 can shift relative to one another in order to accommodate thearticulation of the end effector 130. In various instances, the firingmember 150 bends within the articulation joint 140 which creates aninside radius of curvature on one side of the firing member 150 and anoutside radius of curvature on the other side of the firing member 150.The inside radius of curvature is shorter than the outside radius ofcurvature and, further to the above, each of the firing member layersmay have to travel different path lengths through the articulation joint140 thereby creating the relative movement between the firing memberlayers. The firing member 150 can further include at least one rampedsurface configured to eject the staples from the staple cartridge and/ora cutting edge configured to incise the tissue, as outlined above.

A surgical instrument 200 is illustrated in FIGS. 3-5 . The surgicalinstrument 200 comprises a shaft 220, an end effector 230, and anarticulation joint 240 rotatably connecting the end effector 230 to theshaft 220. The end effector 230 comprises a first jaw including a staplecartridge channel 239 configured to receive a staple cartridge. Thestaple cartridge includes a cartridge body and a plurality of staplesremovably stored therein. The staple cartridge can be readily removablefrom the cartridge channel 239 such that the staple cartridge can bereplaced once it has been at least partially expended. In alternativeembodiments, the staple cartridge is not readily removable from thefirst jaw. In either event, the end effector 230 further comprises asecond jaw. The second jaw includes an anvil configured to deform thestaples when they are ejected from the staple cartridge. The second jawis movably coupled to the cartridge channel 239 and is rotatable betweenan open position and a closed position to clamp tissue against thestaple cartridge. In alternative embodiments, the first jaw is movablycoupled to the second jaw and is rotatable between an open position anda closed position.

The shaft 220 comprises a frame, or spine, 221 and a closure tube whichis slidable relative to the spine 221. The closure tube of the shaft 220can be the same as or similar to the closure tube discussed above inconnection with the embodiment of FIGS. 1 and 2 , for example. The shaftspine 221 is rotatably connected to a joint frame, or spine, 241 of thearticulation joint 240. The shaft spine 221 comprises pivot apertures224 defined in opposite sides of the distal end thereof. The joint spine241 comprises proximal extensions 242 extending proximally therefromwhich each include a pivot pin 244 closely received in the pivotapertures 224. The pivot apertures 224 and the pivot pins 244 co-operateto form a proximal articulation axis about which the joint spine 241 canbe articulated.

The joint spine 241 of the articulation joint 240 is rotatably connectedto an end effector frame, or spine, 231 of the end effector 230. The endeffector spine 231 comprises pivot apertures 235 defined in oppositesides of the proximal end thereof. The joint spine 241 further comprisesdistal extensions 243 extending distally therefrom which each include apivot pin 245 closely received in the pivot apertures 235. The pivotapertures 235 and the pivot pins 245 co-operate to form a distalarticulation axis about which the end effector 230 can be articulated.As discussed above, the articulation joint 240 comprises twoarticulation axes. Each articulation axis can comprise a fixedarticulation axis; however, the presence of two fixed axes within thearticulation joint 240 provides the articulation joint 240 with twodegrees of freedom. The two degrees of freedom permit the articulationjoint 240 to undergo compound movements. Thus, certain embodimentsemploying the articulation joint 240 and the closure tube of FIGS. 1 and2 can have a frame capable of compound movements and, in addition, aclosure tube capable of compound movements.

The end effector 230 is articulatable in a first direction and a seconddirection about the articulation joint 240. The first articulationdirection and the second articulation direction lie in a common plane.The surgical instrument 200 further includes an articulation systemconfigured to articulate the end effector 230 in the first direction andthe second direction. The articulation system comprises a firstarticulation actuator 247 a and a second articulation actuator 247 b.The first articulation actuator 247 a and the second articulationactuator 247 b extend through the shaft 220 to a handle assembly of asurgical instrument. The first articulation actuator 247 a and thesecond articulation actuator 247 b can be pushed distally and/or pulledproximally by an articulation drive system in the handle assembly, forexample.

An articulation wire 248 a is attached to the first articulationactuator 247 a. The articulation wire 248 a extends through an aperture246 a defined in the joint spine 241 of the articulation joint 240. Thearticulation wire 248 a is closely received in the aperture 246 a andcan slide relative to the aperture 246 a. The articulation wire 248 acomprises a distal end 249 a mounted to the cartridge channel 239. Thearticulation wire 248 a can be pushed distally and/or pulled proximallyby the first articulation actuator 247 a. When the articulation wire 248a is pushed distally, the articulation wire 248 a can rotate the endeffector 230 in the direction indicated in FIG. 5 . When thearticulation wire 248 a is pulled proximally, the articulation wire 248a can rotate the end effector 230 in an opposite direction.

An articulation wire 248 b is attached to the second articulationactuator 247 b. The articulation wire 248 b extends through an aperture246 b defined in the joint spine 241 of the articulation joint 240. Thearticulation wire 248 b is closely received in the aperture 246 b andcan slide relative to the aperture 246 b. The articulation wire 248 bcomprises a distal end 249 b mounted to the cartridge channel 239. Thearticulation wire 248 b can be pushed distally and/or pulled proximallyby the second articulation actuator 247 b. When the articulation wire248 b is pulled proximally, the articulation wire 248 b can rotate theend effector 230 in the direction indicated in FIG. 5 . When thearticulation wire 248 b is pushed distally, the articulation wire 248 bcan rotate the end effector 230 in an opposite direction.

In various instances, the first articulation actuator 247 a and thesecond articulation actuator 247 b can be actuated independently and/orconcurrently. In at least one instance, the first articulation actuator247 a can be pushed distally while the second articulation actuator 247b is pulled proximally. Similarly, the first articulation actuator 247 acan be pulled proximally while the first articulation actuator 247 b ispushed distally. In certain instances, one of the articulation actuators247 a, 247 b can be actuated without actuating the other.

As described above, the first articulation actuator 247 a can push thefirst articulation wire 248 a distally. Similarly, the secondarticulation actuator 247 b can push the articulation wire 248 bdistally. Ordinarily, the movement of a wire can be unpredictable whenexperiencing a compressive load, especially as the result of lateralbuckling, for example. Disclosed herein are improvements whichfacilitate the use of wires to articulate the end effector 230.

In various instances, further to the above, the first aperture 246 adefined in the joint spine 241 can be sized and configured to prohibitlateral buckling of the first articulation wire 248 a. Referring to FIG.4 , the first aperture 246 a constrains the articulation wire 248 abetween its proximal end which is attached to the first articulationactuator 247 a and its distal end 249 a which is mounted to the endeffector 230. In such instances, the articulation wire 248 a can slidewithin the first aperture 246 a without collapsing to push the endeffector 230 about the articulation joint 240 in the directionillustrated in FIG. 5 . Similarly, the second aperture 246 b defined inthe joint spine 241 can be sized and configured to prohibit lateralbuckling of the second articulation wire 248 b. Referring to FIG. 4 ,the second aperture 246 b constrains the articulation wire 248 b betweenits proximal end which is attached to the second articulation actuator247 b and its distal end 249 b which is mounted to the end effector 230.In such instances, the articulation wire 248 b can slide within thesecond aperture 246 b without collapsing to push the end effector 230about the articulation joint 240 in an opposite direction to thatillustrated in FIG. 5 .

Turning now to FIGS. 6-8 , the first articulation wire 248 a can becomprised of a spring, such as a coil spring, for example. When the endeffector 230 is in an unarticulated position, as illustrated in FIG. 4 ,the first articulation wire 248 a is in the configuration illustrated inFIG. 6 . When the first articulation wire 248 a is pushed distally toarticulate the end effector 230 in the direction illustrated in FIG. 5 ,the first articulation wire 248 a can compress. In such instances, thecoils of the first articulation wire 248 a move closer to each other. Inat least one such instance, the coils of the first articulation wire 248a can contact each other when the first articulation wire 248 a iscompressed. When the coils of the first articulation wire 248 a arecloser to each other, the first articulation wire 248 a is moreresistant to lateral buckling and, as a result, the first articulationwire 248 a is capable of transmitting a pushing load to the end effector230.

When the first articulation wire 248 a is pulled proximally toarticulate the end effector 230 in an opposite direction to thatillustrated in FIG. 5 , the first articulation wire 248 a can stretch.In such instances, the coils of the first articulation wire 248 a movefurther away from each other, as illustrated in FIG. 7 . Although thecoils are further away from each other, the first articulation wire 248a is under tension in such circumstances and is less susceptible tolateral buckling. Moreover, the first articulation wire 248 a is capableof transmitting a pulling load to the end effector 230 when the firstarticulation wire 248 a is in a stretched condition.

The second articulation wire 248 b operates in substantially the sameway as the first articulation wire 248 a. As a result, the end effector230 can be pushed in either articulation direction. In addition, the endeffector 230 can be pulled in either articulation direction. Thearticulation wires 248 a, 248 b can be comprised of any suitablematerial, such as stainless steel, for example. In at least oneinstance, the wires can comprise a cross-sectional diameter betweenapproximately 0.015” and 0.030”, for example.

The compound articulation joint 240 can allow the end effector 230 to bearticulated up to, including, and/or in excess of 90 degrees, forexample. To achieve a 90 degree articulation of the end effector 230,for example, the articulation joint need only articulate 45 degreesabout the first fixed articulation axis and 45 degrees about the secondfixed articulation axis, in at least one instance. Other instances areenvisioned in which the articulation joint 240 articulates a firstdegree about the first fixed articulation axis and a second degree aboutthe second fixed articulation axis which is different than the firstdegree. In at least one such instance, the sum of the first degree andthe second degree can equal 90 degrees, for example.

A surgical instrument 300 is illustrated in FIGS. 9-12 . The surgicalinstrument 300 comprises a shaft 320, an end effector 330, and anarticulation joint 340 rotatably connecting the end effector 330 to theshaft 320. The end effector 330 comprises a first jaw including a staplecartridge channel 339 configured to receive a staple cartridge. Thestaple cartridge includes a cartridge body and a plurality of staplesremovably stored therein. The staple cartridge can be readily removablefrom the cartridge channel 339 such that the staple cartridge can bereplaced once it has been at least partially expended. In alternativeembodiments, the staple cartridge is not readily removable from thefirst jaw. In either event, the end effector 330 further comprises asecond jaw. The second jaw includes an anvil configured to deform thestaples when they are ejected from the staple cartridge. The second jawis movably coupled to the cartridge channel 339 and is rotatable betweenan open position and a closed position to clamp tissue against thestaple cartridge. In alternative embodiments, the first jaw is movablycoupled to the second jaw and is rotatable between an open position anda closed position.

The shaft 320 comprises a frame, or spine, 321 and a closure tube whichis slidable relative to the spine 321. The closure tube can comprise anysuitable closure tube. In various instances, the closure tube of theshaft 320 can be the same as or similar to the closure tube discussedabove in connection with the embodiment of FIGS. 1 and 2 , for example.The shaft spine 331 is rotatably connected to a flexible joint frame, orflexneck, 341 of the articulation joint 340. The flexneck 341 iscomprised of a flexible material. The flexneck 341 can be elasticallydeformed when the end effector is articulated in order to accommodatethe articulation. The flexneck 341 comprises a ball member 342 extendingproximally therefrom. The ball member 342 forms a ball and socket jointwith a proximal socket 344 defined in the spine 321 of the shaft 320. Invarious instances, the proximal ball and socket joint can permit theflexneck 341 to articulate relate to the shaft 320. The flexneck 341 canarticulate relative to a longitudinal axis of the shaft 320 in anysuitable direction. Such articulation is in addition to the articulationflexibility that the flexneck 341 provides.

The flexneck 341 of the articulation joint 340 is also rotatablyconnected to an end effector frame, or spine, 331 of the end effector330. The flexneck 341 comprises a ball member 343 extending distallytherefrom. The ball member 343 forms a ball and socket joint with adistal socket 345 defined in the spine 331 of the end effector 330. Invarious instances, the distal ball and socket joint can permit theflexneck 341 to articulate relate to the end effector 330. The flexneck341 can articulate relative to a longitudinal axis of the end effector330 in any suitable direction. Such articulation is in addition to thearticulation flexibility that the flexneck 341 provides. As a result,the articulation joint 340 comprises several degrees of freedom. Thus,certain embodiments employing the articulation joint 340 can have aframe capable of compound movements. Such compound movements may or maynot be constrained by the closure tube extending around the frame. Incertain instances, the closure tube can comprise a weakened and/orflexible portion which is co-extensive with and/or overlapping thearticulation joint 340. In other instances, the closure tube, such asthe closure tube of FIGS. 1 and 2 , for example, can limit the degreesof freedom provided by the flexible frame of the surgical instrument300.

The end effector 330 is articulatable in at least a first direction anda second direction about the articulation joint 340; however, the endeffector 330 may be articulatable in any suitable number of directions.The first articulation direction and the second articulation directioncan lie in a common plane. The surgical instrument 300 further includesan articulation system configured to articulate the end effector 330 inthe first direction and the second direction. The articulation systemcomprises a first articulation actuator 348 a and a second articulationactuator 348 b. The first articulation actuator 348 a and the secondarticulation actuator 348 b extend through the shaft 320 to a handleassembly of a surgical instrument. The first articulation actuator 348 aand the second articulation actuator 348 b can be pushed distally and/orpulled proximally by an articulation drive system in the handleassembly, for example.

In at least one instance, the first articulation actuator 348 a cancomprise a first articulation wire 348 a. The articulation wire 348 aextends through an aperture 346 a defined in the flexneck 341 of thearticulation joint 340. More specifically, the aperture 346 a extendsthrough several vertebral flanges 347 of the flexneck 341 and thearticulation wire 348 a extends through the vertebral flanges 347. Thearticulation wire 348 a is closely received in the aperture 346 a andcan slide relative to the aperture 346 a. The articulation wire 348 acomprises a distal end 349 a fixedly mounted to the cartridge channel339. The articulation wire 348 a can be pushed distally and/or pulledproximally. When the articulation wire 348 a is pushed distally, thearticulation wire 348 a can rotate the end effector 330 in the directionindicated in FIG. 10 . When the articulation wire 348 a is pulledproximally, the articulation wire 348 a can rotate the end effector 330in an opposite direction.

In at least one instance, the second articulation actuator 348 b cancomprise a second articulation wire 348 b. The articulation wire 348 bextends through an aperture 346 b defined in the flexneck 341 of thearticulation joint 340. More specifically, the aperture 346 b extendsthrough the vertebral flanges 347 of the flexneck 341 and thearticulation wire 348 b extends through the vertebral flanges 347. Thearticulation wire 348 b is closely received in the aperture 346 b andcan slide relative to the aperture 346 b. The articulation wire 348 bcomprises a distal end 349 b mounted to the cartridge channel 339. Thearticulation wire 348 b can be pushed distally and/or pulled proximally.When the articulation wire 348 b is pulled proximally, the articulationwire 348 b can rotate the end effector 330 in the direction indicated inFIG. 10 . When the articulation wire 348 b is pushed distally, thearticulation wire 348 b can rotate the end effector 330 in an oppositedirection.

In various instances, the first articulation actuator 348 a and thesecond articulation actuator 348 b can be actuated independently and/orconcurrently. For instance, the first articulation actuator 348 a can bepushed distally while the second articulation actuator 348 b is pulledproximally. Similarly, the first articulation actuator 348 a can bepulled proximally while the second articulation actuator 348 b is pusheddistally. In certain instances, one of the articulation actuators 348 a,348 b can be actuated without actuating the other.

Referring to FIG. 10 once again, the compound articulation joint 340 canallow the end effector 330 to be articulated up to, including, and/or inexcess of 90 degrees, for example. To achieve a 90 degree articulationof the end effector 330, for example, the distal ball and socket jointmay provide A degrees of articulation, the flexneck 341 may bend toprovide B degrees of articulation, and the proximal ball and socketjoint may provide C degrees of articulation, wherein the summation of A,B, and C equals ninety degrees, for example. In at least one instance,the distal ball and socket joint can provide up to 15 degrees ofarticulation and the proximal ball and socket joint can also provide upto 15 degrees of articulation, for example. In other instances, thedistal ball and socket joint and the proximal ball and socket joint canprovide different degrees of articulation. In certain instances, theflexneck 341 can provide up to 54 degrees of articulation, for example,and the proximal and distal ball and socket joints can provide thebalance of the necessary articulation. In at least one instance, thedistal ball and socket joint can provide between approximately 20-30degrees of articulation, the flexneck 341 can provide betweenapproximately 20-30 degrees of articulation, and the proximal ball andsocket joint can also provide between approximately 20-30 degrees ofarticulation, for example.

Referring primarily to FIG. 12 , the first articulation actuator 348 aand/or the second articulation actuator 348 b can have a circularcross-section, for example. In such instances, the moment of inertia ofeach articulation actuator 348 a, 348 b is the same about any bendingaxis extending through the center thereof. Other embodiments areenvisioned in which an articulation actuator comprises a non-circularcross-sectional geometry. Turning now to FIG. 13 , an articulationsystem can include a flexneck 441. The flexneck 441 is similar to theflexneck 341 in many respects. The flexneck comprises a first aperture446 a which is configured to slidably receive a first articulationactuator 448 a therein. The first aperture 446 a and the firstarticulation actuator 448 a are rectangular. Such a configurationprovides the first articulation actuator 448 a with different, orunequal, moments of inertia. Based on the arrangement of the firstarticulation actuator 448 a depicted in FIG. 13 , the first articulationactuator 448 a is more conducive to bending laterally. The firstarticulation actuator 448 a is closely received in the first aperture446 a such that the sidewalls of the first aperture 446 a can inhibitlateral buckling of the first articulation actuator 448 a when the firstarticulation actuator 448 a is compressed.

The flexneck comprises a second aperture 446 b which is configured toslidably receive a second articulation actuator 448 b therein. Thesecond aperture 446 b and the second articulation actuator 448 b arerectangular. Such a configuration provides the second articulationactuator 448 b with different, or unequal, moments of inertia. Based onthe arrangement of the second articulation actuator 448 b depicted inFIG. 13 , the second articulation actuator 448 b is more conducive tobending laterally. The second articulation actuator 448 b is closelyreceived in the second aperture 446 b such that the sidewalls of thesecond aperture 446 b can inhibit lateral buckling of the secondarticulation actuator 448 b when the second articulation actuator 448 bis compressed. The first articulation actuator 448 a and the secondarticulation actuator 448 b are parallel and symmetric, but embodimentsare envisioned in which the articulation actuators are not paralleland/or symmetric, for example. Moreover, other embodiments areenvisioned which only use one articulation actuator. Certain embodimentsare envisioned which use more than two articulation actuators.

Referring again to FIG. 12 , the flexneck 341 comprises a centrallongitudinal aperture defined therein which is configured to slidablyreceive a firing member 350 therein. The firing member 350 is configuredto eject the staples from the staple cartridge positioned in the endeffector 330, which is discussed further above. The firing member 350can also comprise a cutting portion configured to incise the tissuebeing stapled. In any event, the longitudinal aperture comprises a firstlateral side 351 a configured to support a first side of the firingmember 350 and a second lateral side 351 b configured to support asecond side of the firing member 350. The firing member 350 is placed incompression as it is advanced distally, and the first lateral sidewall351 a and the second lateral sidewall 351 b can be configured to inhibitlateral buckling of the firing member 350.

Further to the above, the firing member 350 can be supported in anysuitable manner. As discussed above, the firing member 350 can besupported directly by the flexneck 341. As the reader will recall, theflexneck 341 is attached at its proximal end to the shaft 320 and at itsdistal end to the end effector 330. Other embodiments are envisioned inwhich the firing member 350, and/or any other firing member, issupported by a cantilevered member which is attached to only one of theshaft 320 and the end effector 330, for example. Turning now to FIG. 18, a surgical instrument can include a tubular member, or backbone, 790configured to slidably support the firing member 350, for example. Thetubular member 790 comprises an elongate body 791 including a proximalend 792 mounted to the shaft of a surgical instrument. The elongate body791 further includes a distal end 793 and a longitudinal aperture 794extending therethrough. Similar to the above, the longitudinal aperture794 is configured to slidably support a firing member, such as firingmember 350, for example, therein. Also similar to the above, thesidewalls of the longitudinal aperture 794 are configured to laterallysupport the firing member 350.

Further to the above, referring again to FIG. 18 , the tubular member790 is mounted to the shaft of a surgical instrument and extends throughan articulation joint which connects an end effector of the surgicalinstrument to the shaft. When the end effector is articulated, thetubular member 790 can flex to accommodate the articulation. The distalend 793 of the tubular member 790 is not mounted to the end effectorand, thus, the tubular member 790 comprises a cantilever mounted to theshaft. Such an arrangement provides the firing member 350 with anindependent support to that of the articulation frame. In suchinstances, the tubular member 790 can move relative to the articulationframe. When the firing member 350 is advanced through the longitudinalaperture 794, the firing member 350 can be slidably supported by thesidewalls of the longitudinal aperture 794. The tubular member 790 iscomprised of an integral piece of material; however, the tubular member790 can comprise an assembly of components.

Turning now to FIGS. 16 and 17 , a surgical instrument can include atubular member, or backbone, assembly 690 configured to slidably supportthe firing member 350, for example. The tubular member assembly 690comprises an elongate body 691 including a proximal end 692 mounted tothe shaft of a surgical instrument. The elongate body 691 furtherincludes a distal end 693 and a longitudinal aperture 694 extendingtherethrough. Similar to the above, the longitudinal aperture 694 isconfigured to slidably support a firing member, such as firing member350, for example, therein. Also similar to the above, the sidewalls ofthe longitudinal aperture 694 are configured to laterally support thefiring member 350. The tubular member assembly 690 extends through anarticulation joint which connects an end effector of the surgicalinstrument to the shaft. When the end effector is articulated, thetubular member assembly 690 can flex to accommodate the articulation.When the firing member 350 is advanced through the longitudinal aperture694 of the tubular member assembly 690, the firing member 350 can beslidably supported by the sidewalls of the longitudinal aperture 694.

The tubular member assembly 690 comprises a first lateral slot 695positioned on a first side of the longitudinal aperture 694 and a secondlateral slot 695 positioned on a second side of the longitudinalaperture 694. A first blowout plate 696 is positioned in the firstlateral slot 695 and a second blowout plate 696 is positioned in thesecond lateral slot 695. The lateral blowout plates 696 are configuredto support the firing member 350 and inhibit lateral buckling of thefiring member 350. The lateral blowout plates 696 are flexible and canresiliently support the firing member 350. In other embodiments, thelateral blowout plates 696 are rigid. In either event, the lateralblowout plates 696 can slide within the lateral slots 695. Such relativemovement between the lateral blowout plates 696 and the elongate body691 can facilitate the bending of the tubular member assembly 690 whenthe end effector is articulated. In various instances, the lateralblowout plates 696 can slide within the lateral slots 695 to relievestress created within the tubular member assembly 690 when the endeffector is articulated.

In various instances, the lateral blowout plates 696 can directlysupport the firing member 350. The lateral blowout plates 696 can becomprised of any suitable material. In at least one instance, thelateral blowout plates 696 are comprised of a lubricious material, suchas Teflon, carbon-filled Nylon, and/or any other filled polymer, forexample. The materials of the lateral blowout plates 696, the elongatebody 691, and/or the firing member 350 can be selected such that thecrystalline structures of the selected materials provide for a lowcoefficient of friction therebetween. In other instances, the tubularmember assembly 690 can include spacers 697 positioned intermediate thefiring member 350 and the lateral blowout plates 696. A first spacer 697is positioned intermediate a first side of the firing member 350 and thefirst blowout plate 696 and a second spacer 697 is positionedintermediate a second side of the firing member 350 and the secondblowout plate 696. The spacers 697 can be comprised of any suitablematerial. In at least one instance, the spacers 697 are comprised of alubricious material, such as Teflon, carbon-filled Nylon, and/or anyother filled polymer, for example. The materials of the lateral blowoutplates 696 and the spacers 697 can be selected such that the crystallinestructures of the selected materials provide for a low coefficient offriction therebetween. Moreover, the materials of the spacers 697 andthe firing member 350 can be selected such that the crystallinestructures of the selected materials provide for a low coefficient offriction therebetween.

In various instances, the lateral sides of the elongate body 691 can besolid. In other instances, referring to FIGS. 17 and 18 , windows 699can be defined in the lateral sides of the elongate body 691. The topand bottom portions of the elongate body 691 are connected by lateralsupports 698 extending therebetween. Such an arrangement can permit theelongate body 691 to bend when the end effector is articulated and, atthe same time, provide sufficient structural lateral support to thefiring member 350 and the lateral blowout plates 696.

Further to the above, the distal end 693 of the tubular member assembly690 is mounted to the end effector. Owing to the relative movementbetween the lateral blowout plates 696 and the elongate body 691, thelateral blowout plates 696 provide the firing member 350 with anindependent support to that of the articulation frame.

A surgical instrument 500 is illustrated in FIGS. 14 and 15 . Thesurgical instrument 500 comprises a shaft 520, an end effector, and anarticulation joint 540 which rotatably connects the end effector to theshaft 520. The articulation joint 540 comprises two different types oflinks, i.e., a plurality of first links 541 and a plurality of secondlinks 542. The first links 541 and the second links 542 are arranged inan alternating arrangement. A second link 542 is positioned intermediateeach first link 541; however, any suitable arrangement could beutilized. Each first link 541 comprises a first outer diameter and eachsaid second link 542 comprises a second outer diameter. The first outerdiameter is larger than the second outer diameter. The first links 541and the second links 542 are circular and, in such instances, thediameters of the first links 541 and 542 can comprise circulardiameters; however, any suitable configuration can be utilized. Inembodiments in which the first links 541 and/or the second links 542 arenon-circular, the first diameter of the first links 541 can comprise afirst lateral width of the first links 541 and, similarly, the seconddiameter of the second links 542 can comprise a second lateral width ofthe second links 542.

As illustrated in FIG. 15 , the smaller second diameter of the secondlinks 542 permits the first links 541 to rotate over the second links542 when the end effector is articulated. In such instances, the firstlinks 541 can pivot into the lateral space of the second links 542. Tofacilitate such relative rotation between the first links 541 and thesecond links 542, each first link 541 can comprise a beveled protrusion543 extending from the proximal and distal sides thereof.Correspondingly, each second link 542 can comprise a beveled recessdefined on the opposite sides thereof which receive the beveledprotrusions 543. In at least one instance, the beveled protrusions 543and the beveled recesses can be dome shaped, for example. In any event,the interface between each beveled protrusion 543 and beveled recessprovides an articulation joint within the articulation joint 540 aboutwhich the first links 541 can pivot.

A pivot interface 544 is present between a frame 521 of the shaft 520and the proximal-most second link 542. The pivot interface 544 issimilar to the protrusion 543 in many respects. A pivot interface 544can also be present between the end effector and the distal-most secondlink 542.

Further to the above, the end effector of the surgical instrument 500can be articulated relative to the shaft 520 about the articulationjoint 540 by an articulation actuation system. The articulationactuation system comprises a first articulation actuator 348 a and asecond articulation actuator 348 b. The first articulation actuator 348a extends through the shaft 520 and a first longitudinal aperture 547 adefined in the first links 541 wherein a distal end of the firstarticulation actuator 348 a is mounted to the end effector. Each firstlink 541 comprises a portion of the first aperture 547 a. Notably, thefirst aperture 547 a does not extend through the second links 542.Similarly, the second articulation actuator 348 b extends through theshaft 520 and a second longitudinal aperture 547 b defined in the firstlinks 541 wherein a distal end of the second articulation actuator 348 bis mounted to the end effector. Each first link 541 comprises a portionof the second aperture 547 b. Notably, the second aperture 547 b doesnot extend through the second links 542.

In the unarticulated configuration of the articulation joint 540,referring to FIG. 14 , the first articulation actuator 348 a and thesecond articulation actuator 348 b can be pulled proximally to maintainthe articulation joint 540 in a compressed configuration. In suchinstances, the end effector can be pulled proximally to bias first links541 and the second links 542 into contact with one another and theproximal-most second link 542 into engagement with the shaft 520. Thefirst articulation actuator 348 a and the second articulation actuator348 b are positioned on opposite sides of, and equally spaced relativeto, the longitudinal axis of the articulation joint 540. As a result,the articulation actuators 348 a, 348 b tend to re-center the firstlinks 541 when an equal pulling force is applied to the articulationactuators 348 a, 348 b. Stated another way, when an equal pulling forceP is applied to the articulation actuators 348 a, 348 b, thearticulation joint 540 is moved into and/or maintained in anunarticulated configuration.

When an imbalance in the pulling forces applied to the actuators 348 a,348 b is present, further to the above, the end effector can bearticulated. For instance, if a first pulling force P1 is applied to thefirst articulation actuator 348 a and a second pulling force P2 isapplied to the second articulation actuator 348 b, wherein the secondpulling force P2 is less than the first pulling force P1, the endeffector can articulate in the direction indicated in FIG. 15 .Similarly, if the second pulling force P2 is greater than the firstpulling force P1, the end effector can articulate in a direction whichis opposite to the direction indicated in FIG. 15 .

Similar to the above, the first links 541 and the second links 542comprise central apertures extending therethrough which are configuredto slidably receive a firing member therein. The central apertures ofthe links 541, 542 are aligned with the longitudinal axis of the shaft520 when the end effector is in its unarticulated position. As discussedabove, the first links 541 can shift inwardly relative to the secondlinks 542 when the end effector is articulated. In such instances, thecentral apertures of the first links 541 can shift inwardly relative tothe central apertures of the second links 542. Moreover, further to theabove, the first links 541 can pivot relative to the second links 542thereby changing the path in which the firing member will follow throughthe central apertures. The shifting and/or pivoting of the first links541 relative to the second links 542 dynamically affect the guidanceradius of curvature for the firing member. The guidance radius ofcurvature is shifted inwardly toward the inner radius of curvature ofthe articulation joint 540. Such an inward shift of the guidance radiusof curvature can tend to shorten the path of the firing member throughthe articulation joint 540 when the end effector is in an articulatedposition.

As set forth in the concurrently-filed, commonly-owned U.S. Pat.Application Serial No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMSCOMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THEFIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No. 9,844,374, which waspreviously incorporated by reference herein, the firing stroke neededfor a firing member to fully complete a firing stroke can beproportional to the degree in which the end effector of the surgicalinstrument is articulated. Stated another way, it has been previouslyexperienced that the more an end effector is articulated, the longer thefiring path becomes for a firing member to complete a firing stroke.With regard to the embodiment of FIGS. 14 and 15 , the more the endeffector is articulated, the more the firing path for the firing memberis shifted inwardly. This inward shift of the firing path for the firingmember at least partially compensates for, or offsets, changes in thefiring stroke that may occur when the end effector is articulated.

The first links 541 and the second links 542 can be comprised of anysuitable material. In various instances, the first links 541 arecomprised of a first material and the second links 542 are comprised ofa second material which is different than the first material. In certaininstances, the first links 541 can be comprised of metal, such asstainless steel, for example. The second links 542 can be comprised of alubricious material, such as carbon filled Ultem, for example.

EXAMPLES

Example 1 - A surgical instrument comprises a shaft comprising a shaftframe and an end effector comprising an end effector frame and a jawmovable relative to the end effector frame. The surgical instrumentfurther comprises an articulation joint comprising an articulation frameincluding a proximal articulation end, a distal articulation end, afirst articulation joint connecting the proximal articulation end to theshaft frame, and a second articulation joint connecting the distalarticulation end to the end effector frame. The surgical instrumentfurther comprises a firing system movable relative to the shaft frame,the articulation frame, and the end effector frame, wherein the firingsystem comprises a cutting member movable relative to the end effectorframe.

Example 2 - The surgical instrument of Example 1, further comprising anouter tube movable relative to the articulation joint, wherein the outertube is configured to move the jaw between an open position and a closedposition.

Example 3 - The surgical instrument of Examples 1 or 2, furthercomprising a first articulation wire fixedly attached to the endeffector frame, wherein the first articulation wire is configured torotate the end effector in a first direction, and a second articulationwire fixedly attached to the end effector frame, wherein the secondarticulation wire is configured to rotate the end effector in a seconddirection.

Example 4 - The surgical instrument of Example 3, wherein the firstarticulation wire is configured to push the end effector in the firstdirection, and wherein the second articulation wire is configured topush the end effector in the second direction.

Example 5 - The surgical instrument of Examples 3 or 4, wherein thefirst articulation wire comprises a first configuration when subjectedto a compressive load and a second configuration when subjected to atensile load.

Example 6 - The surgical instrument of Examples 3, 4, or 5, wherein thearticulation frame comprises an articulation wire channel, wherein thefirst articulation wire extends through the articulation wire channel,and wherein the articulation wire channel is configured to constrain theconfiguration of the first articulation wire.

Example 7 - The surgical instrument of Examples 3, 4, 5, or 6, whereinthe first articulation wire comprises a first coil spring and the secondarticulation wire comprises a second coil spring.

Example 8 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, or 7,wherein the articulation frame comprises a flexneck.

Example 9 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or8, wherein the first articulation joint comprises a first fixed pivotaxis.

Example 10 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8,or 9, wherein the second articulation joint comprises a second fixedpivot axis.

Example 11 - The surgical instrument of Example 10, wherein the firstpivot axis is parallel to the second fixed pivot axis.

Example 12 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or8, wherein the first articulation joint comprises a ball-and-socketjoint.

Example 13 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8,or 12, wherein the second articulation joint comprises a ball-and-socketjoint.

Example 14 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 9,10, 11, 12, or 13, wherein the articulation frame comprises a rigidspine.

Example 15 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8,9, 10, 11, 12, 13, or 14, wherein the end effector comprises a staplecartridge comprising staples removably stored therein, wherein thefiring system is configured to eject the staples from the staplecartridge.

Example 16 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8,9, 10, 11, 12, 13, 14, or 15, wherein the articulation frame comprises aplurality of frame members including a plurality of first frame membersand a plurality of second frame members, wherein the first frame membersand the second frame members are arranged in an alternating arrangement.

Example 17 - The surgical instrument of Example 16, wherein each firstframe member is defined by a first diameter, wherein each second framemember is defined by a second diameter, and wherein the second diameteris smaller than the first diameter.

Example 18 - The surgical instrument of Examples 16 or 17, wherein eachfirst frame member comprises a beveled surface which interfaces with asecond frame member.

Example 19 - A surgical instrument comprising a shaft comprising a shaftframe, an end effector comprising an end effector frame and a jawmovable relative to the end effector frame, and an articulation joint.The articulation joint comprises a proximal articulation end, a distalarticulation end, a first articulation ball-and-socket joint connectingthe proximal articulation end to the shaft frame, and a secondarticulation ball-and-socket joint connecting the distal articulationend to the end effector frame. The surgical instrument furthercomprises, one, a first articulation actuator fixedly attached to theend effector frame, wherein the first articulation actuator isconfigured to push the end effector in a first direction about thearticulation joint and, two, a second articulation actuator fixedlyattached to the end effector frame, wherein the second articulationactuator is configured to push the end effector in a second directionabout the articulation joint.

Example 20 - An assembly for use with a surgical instrument, comprisinga shaft portion, an end effector, and an articulation joint comprising aplurality of links including a plurality of first links, wherein eachfirst link comprises a first actuator aperture and a second actuatoraperture, and wherein each first link is defined by a first diameter,and a plurality of second links, wherein each second link is defined bya second diameter, wherein the second diameter is smaller than the firstdiameter. The assembly further comprises a first articulation actuatorattached to the end effector, wherein the first articulation actuatorextends through the first actuator apertures of the first links, andwherein the first articulation actuator does not extend through thesecond links and, two, a second articulation actuator attached to theend effector, wherein the second articulation actuator extends throughthe second actuator apertures of the first links, and wherein the secondarticulation actuator does not extend through the second links.

Example 21 - The assembly of Example 20, wherein each first linkcomprises a compression surface configured to be compressed against anadjacent second link.

Example 22 - The assembly of Example 21, wherein the compression surfacecomprises a beveled surface.

Example 23 - An assembly for use with a surgical instrument comprising ashaft portion, an end effector, a firing member movable relative to theend effector, and an articulation joint, wherein the articulation jointrotatably connects the end effector to the shaft portion. Thearticulation joint comprises a plurality of links including a pluralityof first links, wherein each the first link comprises a first aperture,and a plurality of second links, wherein each second link comprises asecond aperture, wherein the first links are configured to shiftrelative to the second links when the end effector is articulated,wherein the first apertures and the second apertures define a firingmember path through the articulation joint for the firing member, andwherein the length of the firing member path is dynamically adjustedwhen the first links shift relative to the second links.

The entire disclosures of:

-   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,    which issued on Apr. 4, 1995;-   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT    HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on    Feb. 21, 2006;-   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND    FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on    Sep. 9, 2008;-   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL    INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which    issued on Dec. 16, 2008;-   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN    ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;-   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,    which issued on Jul. 13, 2010;-   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE    FASTENER CARTRIDGE, which issued on Mar. 12, 2013;-   U.S. Pat. Application Serial No. 11/343,803, entitled SURGICAL    INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.    7,845,537;-   U.S. Pat. Application Serial No. 12/031,573, entitled SURGICAL    CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb.    14, 2008;-   U.S. Pat. Application Serial No. 12/031,873, entitled END EFFECTORS    FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008,    now U.S. Pat. No. 7,980,443;-   U.S. Pat. Application Serial No. 12/235,782, entitled MOTOR-DRIVEN    SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;-   U.S. Pat. Application Serial No. 12/249,117, entitled POWERED    SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE    FIRING SYSTEM, now U.S. Pat. No. 8,608,045;-   U.S. Pat. Application Serial No. 12/647,100, entitled MOTOR-DRIVEN    SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL    CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat. No. 8,220,688;-   U.S. Pat. Application Serial No. 12/893,461, entitled STAPLE    CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;-   U.S. Pat. Application Serial No. 13/036,647, entitled SURGICAL    STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.    8,561,870;-   U.S. Pat. Application Serial No. 13/118,241, entitled SURGICAL    STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,    now U.S. Pat. No. 9,072,535;-   U.S. Pat. Application Serial No. 13/524,049, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15,    2012, now U.S. Pat. No. 9,101,358;-   U.S. Pat. Application Serial No. 13/800,025, entitled STAPLE    CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013,    now U.S. Pat. No. 9,345,481;-   U.S. Pat. Application Serial No. 13/800,067, entitled STAPLE    CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013,    now U.S. Pat. Application Publication No. 2014/0263552;-   U.S. Pat. Application Publication No. 2007/0175955, entitled    SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER    LOCKING MECHANISM, filed Jan. 31, 2006; and-   U.S. Pat. Application Publication No. 2010/0264194, entitled    SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,    filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby    incorporated by reference herein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

1. A surgical instrument, comprising: a shaft comprising a shaft frame;an end effector, comprising: an end effector frame; and a jaw movablerelative to said end effector frame; an articulation joint, comprising:an articulation frame, comprising: a proximal articulation end; and adistal articulation end; a first articulation joint connecting saidproximal articulation end to said shaft frame; and a second articulationjoint connecting said distal articulation end to said end effectorframe; a firing system movable relative to said shaft frame, saidarticulation frame, and said end effector frame, wherein said firingsystem comprises a cutting member movable relative to said end effectorframe.
 2. The surgical instrument of claim 1, further comprising anouter tube movable relative to said articulation joint, wherein saidouter tube is configured to move said jaw between an open position and aclosed position.
 3. The surgical instrument of claim 1, furthercomprising: a first articulation wire fixedly attached to said endeffector frame, wherein said first articulation wire is configured torotate said end effector in a first direction; and a second articulationwire fixedly attached to said end effector frame, wherein said secondarticulation wire is configured to rotate said end effector in a seconddirection.
 4. The surgical instrument of claim 3, wherein said firstarticulation wire is configured to push said end effector in said firstdirection, and wherein said second articulation wire is configured topush said end effector in said second direction.
 5. The surgicalinstrument of claim 4, wherein said first articulation wire comprises afirst configuration when subjected to a compressive load and a secondconfiguration when subjected to a tensile load.
 6. The surgicalinstrument of claim 5, wherein said articulation frame comprises anarticulation wire channel, wherein said first articulation wire extendsthrough said articulation wire channel, and wherein said articulationwire channel is configured to constrain the configuration of said firstarticulation wire.
 7. The surgical instrument of claim 4, wherein saidfirst articulation wire comprises a first coil spring and said secondarticulation wire comprises a second coil spring.
 8. The surgicalinstrument of claim 1, wherein said articulation frame comprises aflexneck.
 9. The surgical instrument of claim 1, wherein said firstarticulation joint comprises a first fixed pivot axis.
 10. The surgicalinstrument of claim 9, wherein said second articulation joint comprisesa second fixed pivot axis.
 11. The surgical instrument of claim 10,wherein said first pivot axis is parallel to said second fixed pivotaxis.
 12. The surgical instrument of claim 1, wherein said firstarticulation joint comprises a ball-and-socket joint.
 13. The surgicalinstrument of claim 12, wherein said second articulation joint comprisesa ball-and-socket joint.
 14. The surgical instrument of claim 1, whereinsaid articulation frame comprises a rigid spine.
 15. The surgicalinstrument of claim 1, wherein said end effector comprises a staplecartridge comprising staples removably stored therein, wherein saidfiring system is configured to eject said staples from said staplecartridge.
 16. The surgical instrument of claim 1, wherein saidarticulation frame comprises a plurality of frame members including: aplurality of first frame members; and a plurality of second framemembers, wherein said first frame members and said second frame membersare arranged in an alternating arrangement.
 17. The surgical instrumentof claim 16, wherein each said first frame member is defined by a firstdiameter, wherein each said second frame member is defined by a seconddiameter, and wherein said second diameter is smaller than said firstdiameter.
 18. The surgical instrument of claim 17, wherein each saidfirst frame member comprises a beveled surface which interfaces with asaid second frame member.
 19. A surgical instrument, comprising: a shaftcomprising a shaft frame; an end effector, comprising: an end effectorframe; and a jaw movable relative to said end effector frame; anarticulation joint, comprising: an articulation frame, comprising: aproximal articulation end; and a distal articulation end; a firstarticulation ball-and-socket joint connecting said proximal articulationend to said shaft frame; and a second articulation ball-and-socket jointconnecting said distal articulation end to said end effector frame; afirst articulation actuator fixedly attached to said end effector frame,wherein said first articulation actuator is configured to push said endeffector in a first direction about said articulation joint; and asecond articulation actuator fixedly attached to said end effectorframe, wherein said second articulation actuator is configured to pushsaid end effector in a second direction about said articulation joint.20. An assembly for use with a surgical instrument, comprising: a shaftportion; an end effector; an articulation joint comprising a pluralityof links including: a plurality of first links, wherein each said firstlink comprises a first actuator aperture and a second actuator aperture,and wherein each said first link is defined by a first diameter; aplurality of second links, wherein each said second link is defined by asecond diameter, wherein said second diameter is smaller than said firstdiameter; a first articulation actuator attached to said end effector,wherein said first articulation actuator extends through said firstactuator apertures of said first links, and wherein said firstarticulation actuator does not extend through said second links; and asecond articulation actuator attached to said end effector, wherein saidsecond articulation actuator extends through said second actuatorapertures of said first links, and wherein said second articulationactuator does not extend through said second links. 21-23. (canceled)